Method and apparatus for window position compensation

Abstract

This application discloses a method and apparatus for compensating the position of a vehicle window. The method includes: acquiring a first current and a first rotational speed of a motor controlling the movement of the vehicle window when it stops, a first time when the motor switches from rotating to stopping, and a second current of the motor during the first time; calculating the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor; wherein the forward thrust distance is used to compensate for the position of the vehicle window; and obtaining the target position of the vehicle window based on the forward thrust distance and the first position of the vehicle window when the motor stops. The method for compensating the position of the vehicle window provided in this application achieves the effect of accurately compensating for the position of the vehicle window.

Description

Technical Field

[0001] This application relates to the field of vehicle window position control technology, specifically to a method and device for vehicle window position compensation. Background Technology

[0002] When adjusting the position of the car window, after the user closes the window motor, the motor continues to rotate due to inertia, causing the window to continue moving. As a result, the window position continues to change, and the position where the window stops is not the position the user wants. Therefore, the window position can be compensated.

[0003] Currently, the main methods for compensating for the position of car windows are to estimate the inertial forward thrust distance after the motor stops by collecting the ripple pulse of the motor after it stops, or by estimating the inertial forward thrust distance after the motor stops by measuring the current and speed of the motor when it stops.

[0004] The window position compensation method described above has a certain deviation in the compensated window position, and the accuracy of the determined compensation distance is low. Summary of the Invention

[0005] The purpose of this application is to provide a method and apparatus for compensating the position of a vehicle window, so as to achieve the effect of accurately compensating the position of the vehicle window.

[0006] The technical solution of this application is as follows:

[0007] Firstly, a method for compensating for the position of a vehicle window is provided, the method comprising:

[0008] The system acquires the first current and first speed of the motor controlling the window movement when it switches to a stop, the first time the motor switches from switching to a stop, and the second current of the motor during the first time.

[0009] Based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor, the forward acceleration distance of the motor is calculated.

[0010] The target position of the window is obtained based on the forward travel distance and the first position of the window when the motor stops.

[0011] Secondly, a vehicle window position compensation device is provided, the device comprising:

[0012] The acquisition module is used to acquire the first current and first speed of the motor controlling the movement of the vehicle window when it switches to a stop, the first time when the motor switches from switching to a stop, and the second current of the motor during the first time.

[0013] The calculation module is used to calculate the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor.

[0014] The determining module is used to determine the target position of the window based on the forward travel distance and the first position of the window when the motor stops.

[0015] Thirdly, embodiments of this application provide an electronic device, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of any of the window position compensation methods described in the embodiments of this application.

[0016] Fourthly, embodiments of this application provide a readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of any of the window position compensation methods described in embodiments of this application.

[0017] Fifthly, embodiments of this application provide a computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, enable the electronic device to perform the steps of any of the window position compensation methods described in embodiments of this application.

[0018] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects:

[0019] In the embodiments provided in this application, the forward thrust distance of the motor is calculated based on the first current and first speed of the motor controlling the movement of the window when it stops, the first time when the motor switches from switching to stopping, the second current of the motor during the first time, and the kinematic model of the motor. This forward thrust distance is used to compensate for the first position of the window when the motor stops, thus obtaining the target position of the window. In this way, by using the characteristic data such as the first current and first speed of the motor during operation and the first time of the braking process, the accurate calculation of the braking forward thrust distance is performed, which improves the accuracy of the window target position compensation and reduces the deviation between the window target position and the actual stopping position.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0022] Figure 1This is a schematic flowchart of a window position compensation method provided in the first aspect of this application.

[0023] Figure 2 This is a schematic diagram of the structure of the window position compensation device for implementing the window position compensation method according to an embodiment of this application.

[0024] Figure 3 This is a schematic flowchart of another window position compensation method provided in the first aspect embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the structure of a window position compensation device provided in the second aspect embodiment of this application.

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device provided in the third aspect of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0028] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples consistent with some aspects of this application as detailed in the appended claims.

[0029] Before introducing the technical solutions of the embodiments of this application, let's first introduce the background technology corresponding to the embodiments of this application:

[0030] When adjusting the position of a car window, even after the user closes the window motor, the motor continues to rotate due to inertia, causing the window to continue moving. Therefore, the window's position continues to change, resulting in it not stopping at the desired position. To address this, window position compensation can be implemented. Currently, window position compensation methods primarily estimate the inertial forward thrust distance after the motor stops by collecting the motor's ripple pulses, or by using the motor's current and speed values ​​at the time of stopping.

[0031] However, the first method described above suffers from significant errors when estimating the inertial forward momentum distance after the motor stops due to the irregularity of the ripple pulses generated during the process of the motor stopping. The second method estimates the inertial forward momentum distance based on a pre-set correspondence between the motor's current and speed values ​​at the time of stopping and the inertial forward momentum distance, but this method also has some degree of bias. Therefore, the existing technology has low accuracy in estimating the inertial forward thrust distance after the motor stops. To solve the above problem, this application provides a method and device for compensating the position of a car window. By using the first current and first speed of the motor controlling the movement of the car window when it stops, the first time when the motor switches from switching to stopping, the second current of the motor during the first time, and the kinematic model of the motor, the forward thrust distance of the motor is calculated. This forward thrust distance is used to compensate for the first position of the car window when the motor stops, and the target position of the car window is obtained. In this way, by using the first current and first speed of the motor during operation, as well as the first time of the braking process, the braking forward thrust distance is accurately calculated, which improves the accuracy of the target position compensation of the car window and reduces the deviation between the target position of the car window and the actual stopping position.

[0032] The window position compensation method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0033] Figure 1 This is a flowchart illustrating a window position compensation method provided in an embodiment of this application. The executing entity of this window position compensation method can be a server. Figure 1 As shown, the window position compensation method provided in this application embodiment may include steps 110-130.

[0034] Step 110: Obtain the first current and first speed of the motor controlling the movement of the car window when it is switched to a stop, the first time when the motor switches from a stop to a stop, and the second current of the motor during the first time.

[0035] The first current could be the current of the motor that controls the movement of the car window at the moment of closing.

[0036] The first rotational speed can be the rotational speed of the motor that controls the movement of the car window at the moment it stops.

[0037] The first time can be the duration from when the motor is switched off to when it finally stops rotating.

[0038] The second current can be the reverse current of the motor in the first time period.

[0039] Step 120: Calculate the forward thrust of the motor based on the first current, the first speed, the first time, the second current, and the kinematic model of the motor.

[0040] The forward thrust distance can be used to compensate for the initial position of the window when the motor stops.

[0041] In some embodiments of this application, the kinematic model of the motor can be as shown in the following formula (1):

[0042]

[0043] T m =K t I

[0044] Where J is the moment of inertia, ω is the rotational speed of the motor before it stops, and T... m T is the driving torque of the motor. f K is the motor resistance torque. t Here are the characteristic parameters of the motor, and I is the current before the motor stops.

[0045] In some embodiments of this application, the current and speed of the motor can be monitored in real time during operation. At the moment the motor is stopped, the current and speed of the motor can be obtained, which are the first current and the first speed.

[0046] In some embodiments of this application, when the motor brakes, that is, during the process from the motor being switched off to finally stopping, if it is assumed that the motor is running at a constant speed, then the kinematic model of the motor in the above formula (1) can be equivalent to the following formula (2):

[0047]

[0048] In some embodiments of this application, calculating the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor may specifically include:

[0049] Based on the first current, first speed, first time, and second current, as well as the kinematic model of the motor, calculate the second speed of the motor during the process from switching off to stopping.

[0050] The forward stroke distance of the motor is obtained based on the second rotational speed.

[0051] The second speed can be the speed of the motor during the process from being switched off to finally stopping.

[0052] In some embodiments of this application, calculating the second rotational speed of the motor during the process from switching off to stopping, based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor, may specifically include:

[0053] Based on the first current, the first speed, the first time, and the second current, as well as the kinematic model of the motor, the second speed of the motor during the process from switching off to stopping is calculated according to the following formula (3):

[0054]

[0055] Where, ω k Let ω be the second rotational speed corresponding to the k-th sampling point during the motor's transition from a stop to a complete stop, where k = 1, 2, 3, ..., n. k-1 The second rotational speed corresponds to the (k-1)th sampling point during the motor's transition from being switched off to stopping, where T is the first time and t is the second rotational speed. s I represents the sampling time interval in the first time period. k I represents the current at the k-th sampling point before the motor stops. break For the first current, I zk This represents the second current at each sampling time point within the first time interval.

[0056] In some embodiments of this application, during the braking process, it can be assumed that the resistance torque is constant. Therefore, the first time T of the motor braking and stopping process and the second current Iz within that time period can be discretized and sampled. The time interval for discretization sampling can be t. s If there are K discrete sampling points, then the second speed ω of the motor during the process from being switched off to stopping can be obtained according to the above formula (3). k .

[0057] In some embodiments of this application, after obtaining the above formula (3), the following formula (4) can be obtained according to the recursive algorithm:

[0058]

[0059] In some embodiments of this application, obtaining the forward thrust distance of the motor based on the second rotational speed may specifically include:

[0060] Based on the second rotational speed, ω can be obtained according to the following formula (5). k-1 and ω k The forward distance ΔS between k ,

[0061] Furthermore, based on ωk-1 and ω k The forward thrust distance between the two sides can be used to obtain the forward thrust distance Sk of the motor, as shown in formula (6):

[0062]

[0063]

[0064] Among them, w break This is the first rotational speed.

[0065] In the above formula (6), we can let A be t. s B is C is Thus, the above formula (6) can be expressed as the following formula (7):

[0066]

[0067] Step 130: Based on the forward travel distance and the first position of the window when the motor stops, obtain the target position of the window.

[0068] The first position could be the position of the car window at the instant the motor stops.

[0069] The target position can be the distance after compensating for the first distance based on the forward travel distance, which is the final stopping position of the window after the motor finally stops rotating.

[0070] In some embodiments of this application, after obtaining the forward travel distance, the first position of the window can be compensated using this forward travel distance to obtain the target position of the window. Specifically, the target position of the window can be the sum of the forward travel distance and the first position of the window when the motor stops.

[0071] In some embodiments of this application, in order to accurately obtain the target position of the window, step 110 involves obtaining the first rotational speed of the motor controlling the window movement when it stops. Specifically, this may include:

[0072] The second time required for the motor controlling the window's movement to rotate one revolution is obtained when the motor is operational.

[0073] Based on the second time required for the motor to complete one revolution, the first speed of the motor when it stops is calculated.

[0074] The second time could be the time required for the motor to complete one revolution before it is cut off and stopped.

[0075] In some embodiments of this application, the second time required for the vehicle to rotate once before stopping can be obtained, and the motor speed can be calculated based on the time required for one rotation.

[0076] In the embodiments of this application, the second time required for the motor controlling the movement of the car window to rotate one revolution is obtained when the motor is in working state. Based on the second time required for the motor to rotate one revolution, the first speed of the motor when it stops can be accurately calculated.

[0077] In some embodiments of this application, obtaining the first moment when the motor controlling the movement of the car window switches to stop rotating in step 110 may specifically include:

[0078] The sampling time interval from when the motor controlling the window movement switches to when it stops rotating, and the number of sampling points sampled from when the motor switches to when it stops rotating, are obtained.

[0079] Based on the sampling time interval and the number of sampling points, the first time from when the motor is switched off to when it stops rotating is calculated.

[0080] In some embodiments of this application, the sampling time interval from when the motor is switched off to when the motor stops rotating can be preset, and then the number of sampling points from when the motor is switched off to when the motor stops rotating can be obtained. The first time from when the motor is switched off to when the motor stops rotating can be obtained by transforming the first formula in the above formula (3).

[0081] In the embodiments of this application, by obtaining the sampling time interval from when the motor controlling the movement of the car window switches to when the motor stops rotating, and the number of sampling points sampled from when the motor stops to when the motor stops rotating, the first time from when the motor stops to when the motor stops rotating can be accurately calculated based on the sampling time interval and the number of sampling points.

[0082] In some embodiments of this application, in order to accurately obtain the first current, step 110 may include obtaining the first current of the motor controlling the movement of the window when it stops, specifically including:

[0083] Acquire the ripple current signal of the motor controlling the movement of the car window when it is in operation.

[0084] Convert the ripple current signal into a voltage signal.

[0085] The voltage signal is amplified to obtain the amplified voltage signal.

[0086] The amplified voltage signal is converted into a digital signal.

[0087] The noise in the digital signal is filtered to obtain the filtered digital signal.

[0088] Based on the filtered digital signal, the first current of the motor when it stops is obtained.

[0089] In some embodiments of this application, such as Figure 2As shown, during the rotation of the motor, the ripple current signal of the motor in the working state can be collected by the ripple current acquisition device. Then, the ripple current signal generated during the motor movement can be converted into a voltage signal by the sampling resistor. After being amplified by the amplifier, it is then acquired by the AD sampling interface. The voltage signal processed by the amplifier is converted into a digital signal. The speed (first speed), current (first current and second current), and braking time (first time) of the motor are obtained by the speed calculation module, the low-pass filter module, and the braking time acquisition module, respectively. The position of the window when the motor stops is extracted by the position extraction module (first position). Then, the forward lurch distance of the motor during braking is obtained by the braking forward lurch distance module. Finally, the accurate stopping position of the motor after braking can be obtained by the motion position management module based on the first position and the forward lurch distance.

[0090] In some embodiments of this application, after the voltage signal processed by the amplifier at the sampling interface is converted into a digital signal, the high-frequency noise in the digital signal can be filtered out by a low-pass filter module. Based on Ohm's law, a current signal that can be monitored is obtained from the filtered digital signal, and it can be monitored and acquired in real time during the motor's movement.

[0091] In the embodiments of this application, the ripple current signal of the motor controlling the movement of the car window in the working state is obtained, the ripple current signal is converted into a voltage signal, the voltage signal is amplified to obtain an amplified voltage signal, the amplified voltage signal is converted into a digital signal, the noise in the digital signal is filtered to obtain a filtered digital signal, and based on the filtered digital signal, the first current of the motor when it stops can be accurately obtained.

[0092] In some embodiments of this application, to more clearly understand the window position compensation method provided in the embodiments of this application, another possible implementation of the window position compensation method is also provided, such as... Figure 3 As shown, the window position compensation method provided in this application embodiment may include steps 310-340.

[0093] Step 310: Monitor the current and speed of the motor during operation.

[0094] Step 320: Determine whether the motor command triggers the stop command. If it does, proceed to step 330. If it does not, continue to step 310.

[0095] Step 330: Record the first current and first speed of the motor at this time, and start the discrete sampling process to record the second current at each discrete sampling moment and the duration of the entire process.

[0096] In some embodiments of this application, the duration of the braking process during motor braking can be recorded, which is the first time. The specific implementation of step 330 is consistent with step 110 in the above embodiments, and will not be repeated here.

[0097] Step 340: Based on the recorded first current, first speed, first time, and second current, as well as the kinematic model of the motor, calculate the forward thrust distance and use it to compensate for the first position of the window.

[0098] In step 340, the implementation process is the same as that of steps 120-130 in the above embodiment, and will not be repeated here.

[0099] In the embodiments of this application, the forward thrust distance of the motor is calculated based on the first current and first speed of the motor controlling the movement of the window when it stops, the first time the motor switches from switching to stopping, and the second current of the motor during the first time. This forward thrust distance is used to compensate for the first position of the window when the motor stops, thus obtaining the target position of the window. By utilizing the first current and first speed of the motor during operation, and the first time of the braking process, precise calculation of the braking forward thrust distance is achieved, improving the accuracy of the window target position compensation and reducing the deviation between the target position and the actual stopping position. Furthermore, since the first current and first speed are obtained based on the actual condition of the window, the forward thrust distance calculation is not affected by deformation or aging of the window seal, reducing the impact of structural factors such as seal deformation and aging. In the prior art, if the movement of the window is obstructed during window movement, the vehicle has an anti-pinch function to prevent the user's hand from being pinched. The forward thrust distance calculated in this embodiment improves the stability of the anti-pinch position, ensuring the stable operation of the anti-pinch function.

[0100] It should be noted that the window position compensation method provided in this application embodiment can be executed by a window position compensation device or a control module in the window position compensation device for executing the window position compensation method.

[0101] Based on the same inventive concept as the aforementioned window position compensation method, this application also provides a window position compensation device. The following is in conjunction with... Figure 4 The window position compensation device provided in the embodiments of this application will be described in detail.

[0102] Figure 4 This is a schematic diagram of a window position compensation device according to an exemplary embodiment.

[0103] like Figure 4 As shown, the window position compensation device 400 may include:

[0104] The acquisition module 410 is used to acquire the first current and first speed of the motor controlling the movement of the vehicle window when it switches to a stop, the first time when the motor switches from switching to a stop, and the second current of the motor during the first time.

[0105] Calculation module 420 is used to calculate the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor.

[0106] The determining module 430 is used to determine the target position of the window based on the forward travel distance and the first position of the window when the motor stops.

[0107] In the embodiments of this application, the forward thrust of the motor is calculated based on the first current and first speed of the motor controlling the movement of the window when it stops, the first time when the motor switches from switching to stopping, the second current of the motor during the first time, and the kinematic model of the motor. The forward thrust distance is then used to compensate for the first position of the window when the motor stops, thus obtaining the target position of the window. In this way, by using the characteristic data such as the first current and first speed of the motor during operation and the first time of the braking process, the accurate calculation of the braking forward thrust distance is performed, which improves the accuracy of the window target position compensation and reduces the deviation between the window target position and the actual stopping position.

[0108] In some embodiments of this application, the kinematic model of the motor is shown in the following formula:

[0109]

[0110] T m =K t I, where J is the moment of inertia, ω is the rotational speed of the motor before it stops, and T m T is the driving torque of the motor. f K is the motor resistance torque. t Here are the characteristic parameters of the motor, and I is the current before the motor stops.

[0111] In some embodiments of this application, the computing module 420 may specifically include:

[0112] The calculation unit is configured to calculate the second rotational speed of the motor during the process from switching off to stopping, based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor.

[0113] The determining unit is used to obtain the forward stroke distance of the motor based on the second rotational speed.

[0114] In some embodiments of this application, the computing unit may specifically be used for:

[0115] Based on the first current, the first speed, the first time, and the second current, and the kinematic model of the motor, the second speed of the motor during the process from switching off to stopping is calculated according to the following formula:

[0116]

[0117]

[0118] Where, ω k The second rotational speed is the k-th sampling point corresponding to the motor's rotation from the moment it is switched off to the moment it stops rotating, where k = 1, 2, 3, ..., n, ω. k-1 The second rotational speed is the value at the (k-1)th sampling point during the process of the motor from being switched off to stopping, where T is the first time and t is the second rotational speed. s I is the sampling time interval within the first time period. k I represents the current at the k-th sampling point before the motor is switched off. break For the first current, I zk The second current is the current at each sampling time point within the first time period.

[0119] In some embodiments of this application, the determining unit may specifically be used for:

[0120] Based on the second rotational speed, the forward thrust distance of the motor is obtained according to the following formula:

[0121]

[0122]

[0123]

[0124] Where Sk is the forward stroke distance of the motor, ΔS k For ω k and ω k-1 The forward thrust distance between the motors, w break This refers to the first rotational speed.

[0125] In some embodiments of this application, the acquisition module 410 may specifically be used for:

[0126] The second time required for the motor controlling the window's movement to rotate one revolution is obtained when the motor is operational.

[0127] The first rotational speed of the motor when it stops is calculated based on the second time required for the motor to complete one revolution.

[0128] In some embodiments of this application, the acquisition module 410 may specifically be used for:

[0129] The sampling time interval from when the motor controlling the movement of the vehicle window is switched off to when the motor stops rotating, and the number of sampling points sampled during the time from when the motor is switched off to when the motor stops rotating, are obtained.

[0130] Based on the sampling time interval and the number of sampling points, the first time from when the motor is switched off to when the motor stops rotating is calculated.

[0131] In some embodiments of this application, the determining module 430 may specifically be used for:

[0132] The sum of the forward travel distance and the first position of the window when the motor stops is taken as the target position of the window.

[0133] In some embodiments of this application, the acquisition module 410 may also be used for:

[0134] Acquire the ripple current signal of the motor controlling the movement of the car window when it is in operation.

[0135] The ripple current signal is converted into a voltage signal.

[0136] The voltage signal is amplified to obtain an amplified voltage signal.

[0137] The amplified voltage signal is converted into a digital signal.

[0138] The noise in the digital signal is filtered to obtain the filtered digital signal.

[0139] Based on the filtered digital signal, the first current of the motor when it stops is obtained.

[0140] The window position compensation device provided in this application embodiment can be used to execute the financial product push method provided in the above method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here for the sake of brevity.

[0141] Based on the same inventive concept, embodiments of this application also provide an electronic device.

[0142] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 5 As shown, the electronic device may include a processor 501 and a memory 502 storing computer programs or instructions.

[0143] Specifically, the processor 501 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of the present invention.

[0144] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory. Memory may include read-only memory (ROM), random-access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, a memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described in the window position compensation method provided in the above embodiments.

[0145] The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any of the window position compensation methods in the above embodiments.

[0146] In one example, the electronic device may also include a communication interface 503 and a bus 510. Wherein, as... Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0147] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or devices in the embodiments of the present invention.

[0148] Bus 510 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0149] The electronic device can execute the window position compensation method in the embodiments of the present invention, thereby realizing the window position compensation method described in any of the above embodiments.

[0150] Furthermore, in conjunction with the window position compensation method in the above embodiments, this invention can be implemented using a readable storage medium. This readable storage medium stores program instructions, which, when executed by a processor, implement any of the window position compensation methods described in the above embodiments.

[0151] In addition, in conjunction with the window position compensation method in the above embodiments, the present invention can provide a computer program product, wherein when the instructions in the computer program product are executed by the processor of an electronic device, the electronic device is able to execute any one of the window position compensation methods in the above embodiments.

[0152] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0153] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0154] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0155] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0156] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A method for compensating for the position of a vehicle window, characterized in that, The method includes: The system acquires the first current and first speed of the motor controlling the window movement when it is switched off, the first time from when the motor is switched off to when it stops rotating, and the second current of the motor during the first time. Based on the first current, the first rotational speed, the first time, and the second current, as well as the kinematic model of the motor, the forward thrust distance of the motor is calculated. The forward thrust distance represents the inertial forward thrust distance of the window after the motor stops. Based on the forward travel distance and the first position of the window when the motor stops, the target position of the window is obtained; the kinematic model of the motor is shown in the following formula: ， ， Where J is the moment of inertia. T is the speed at which the motor was stopped. m T is the driving torque of the motor. f K is the motor resistance torque. t Here are the characteristic parameters of the motor, and I is the current before the motor is stopped. The step of calculating the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor includes: Based on the first current, the first speed, the first time, the second current, and the kinematic model of the motor, calculate the second speed of the motor during the process from switching off to stopping. The forward thrust distance of the motor is obtained based on the second rotational speed; The step of obtaining the forward thrust distance of the motor based on the second rotational speed includes: Based on the second rotational speed, the forward thrust distance of the motor is obtained according to the following formula: ) in, The forward stroke distance of the motor. for and The forward thrust distance between the motors The first rotational speed; The second rotational speed is the k-th sampling point corresponding to the motor's rotation from the moment it is switched off to the moment it stops rotating, where k = 1, 2, 3, ..., n. The second rotational speed is the value corresponding to the (k-1)th sampling point during the process of the motor from being switched off to stopping. The sampling time interval is the first time interval. For the first current, The second current is the current at each sampling time point within the first time period.

2. The method according to claim 1, characterized in that, The step of calculating the second rotational speed of the motor from the moment it is switched off to the moment it stops, based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor, includes: Based on the first current, the first speed, the first time, and the second current, and the kinematic model of the motor, the second speed of the motor during the process from switching off to stopping is calculated according to the following formula: Where T is the first time, I k The current corresponding to the kth sampling point before the motor is stopped.

3. The method according to claim 1, characterized in that, The first rotational speed of the motor controlling the window movement when it comes to a complete stop is obtained, including: The second time required for the motor controlling the window's movement to rotate one revolution is obtained when the motor is operational. The first rotational speed of the motor when it stops is calculated based on the second time required for the motor to complete one revolution.

4. The method according to claim 1, characterized in that, Acquire the first moment from when the motor controlling the window movement is switched off to when it stops rotating, including: The sampling time interval from when the motor controlling the movement of the vehicle window is switched off to when the motor stops rotating, and the number of sampling points sampled during the time from when the motor is switched off to when the motor stops rotating, are obtained. Based on the sampling time interval and the number of sampling points, the first time from when the motor is switched off to when the motor stops rotating is calculated.

5. The method according to claim 1, characterized in that, The step of obtaining the target position of the vehicle window based on the forward travel distance and the first position of the window when the motor stops includes: The sum of the forward travel distance and the first position of the window when the motor stops is taken as the target position of the window.

6. The method according to claim 1, characterized in that, The acquisition of the first current of the motor controlling the movement of the vehicle window when it stops includes: Acquire the ripple current signal of the motor controlling the movement of the car window when it is in operation. The ripple current signal is converted into a voltage signal. The voltage signal is amplified to obtain an amplified voltage signal. The amplified voltage signal is converted into a digital signal. The noise in the digital signal is filtered to obtain the filtered digital signal. Based on the filtered digital signal, the first current of the motor when it stops is obtained.

7. A vehicle window position compensation device, characterized in that, The device includes: The acquisition module is used to acquire the first current and first speed of the motor controlling the movement of the vehicle window when it is switched off and stopped, the first time from when the motor is switched off and stopped rotating, and the second current of the motor during the first time. The calculation module is used to calculate the forward thrust distance of the motor based on the first current, the first rotational speed, the first time, the second current, and the kinematic model of the motor. The forward thrust distance represents the inertial forward thrust distance of the window after the motor stops. The kinematic model of the motor is shown in the following formula: ， ， Where J is the moment of inertia. T is the speed at which the motor was stopped. m T is the driving torque of the motor. f K is the motor resistance torque. t Here are the characteristic parameters of the motor, and I is the current before the motor is stopped. It is also used to calculate, based on the first current, the first speed, the first time, the second current, and the kinematic model of the motor, the second speed of the motor during the process from switching off to stopping, and to obtain the forward acceleration distance of the motor based on the second speed; it is also used to obtain the forward acceleration distance of the motor based on the second speed according to the following formula: ) in, The forward stroke distance of the motor. for and The forward thrust distance between the motors The first rotational speed; The second rotational speed is the k-th sampling point corresponding to the motor's rotation from the moment it is switched off to the moment it stops rotating, where k = 1, 2, 3, ..., n. The second rotational speed is the value corresponding to the (k-1)th sampling point during the process of the motor from being switched off to stopping. The sampling time interval is the first time interval. For the first current, The second current at each sampling time point within the first time period; The determining module is used to determine the target position of the window based on the forward travel distance and the first position of the window when the motor stops.

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